.. _tools-general-api:

General tools API
+++++++++++++++++

:ref:`Overview <tools-general>` | API

.. seealso::

    - :ref:`naoqi-motion`

------------

Method list
-----------

.. cpp:class:: ALMotionProxy

    * :cpp:func:`ALMotionProxy::getJointNames`
    * :cpp:func:`ALMotionProxy::getSensorNames`
    * :cpp:func:`ALMotionProxy::getLimits`
    * :cpp:func:`ALMotionProxy::getRobotConfig`
    * :cpp:func:`ALMotionProxy::getSummary`
    * :cpp:func:`ALMotionProxy::getMass`
    * :cpp:func:`ALMotionProxy::getCOM`

..
    * :cpp:func:`ALMotionProxy::setMotionConfig`
    * :cpp:func:`ALMotionProxy::updateTrackerTarget`


.. cpp:function:: std::vector<std::string> ALMotionProxy::getJointNames(const std::string& name)

  Gets the names of all the joints in the collection.

  :param name: Name of a chain, "Body", "BodyJoints" or "BodyActuators".

  :return: Vector of strings, one for each joint in the collection

  :download:`almotion_getjointnames.cpp </samples/cpp/almotion/almotion_getjointnames.cpp>`

  .. literalinclude:: /samples/cpp/almotion/almotion_getjointnames.cpp
     :language: cpp


  :download:`almotion_getjointnames.py </samples/python/almotion/almotion_getjointnames.py>`

  .. literalinclude:: /samples/python/almotion/almotion_getjointnames.py
     :language: py


.. cpp:function:: std::vector<std::string> ALMotionProxy::getSensorNames()

  Gets the list of sensors supported on your robot.

  :return: Vector of sensor names

  :download:`almotion_getsensornames.cpp </samples/cpp/almotion/almotion_getsensornames.cpp>`

  .. literalinclude:: /samples/cpp/almotion/almotion_getsensornames.cpp
     :language: cpp


  :download:`almotion_getsensornames.py </samples/python/almotion/almotion_getsensornames.py>`

  .. literalinclude:: /samples/python/almotion/almotion_getsensornames.py
     :language: py

.. cpp:function:: AL::ALValue ALMotionProxy::getLimits(const std::string& name)

  Get the minAngle (rad), maxAngle (rad), and maxVelocity (rad.s-1) for a given joint or actuator in the body.

  :param name: Name of a joint, chain, "Body", "BodyJoints" or "BodyActuators".

  :return: Array of ALValue arrays containing the minAngle, maxAngle and maxVelocity for all the joints specified.

  :download:`almotion_getlimits.cpp </samples/cpp/almotion/almotion_getlimits.cpp>`

  .. literalinclude:: /samples/cpp/almotion/almotion_getlimits.cpp
     :language: cpp


  :download:`almotion_getlimits.py </samples/python/almotion/almotion_getlimits.py>`

  .. literalinclude:: /samples/python/almotion/almotion_getlimits.py
     :language: py


.. cpp:function:: AL::ALValue ALMotionProxy::getRobotConfig()

  Get the robot configuration.
  Get the minAngle (rad), maxAngle (rad), and maxVelocity (rad.s-1) for a given joint or actuator in the body.

  :return: ALValue arrays containing the robot parameter names and the robot parameter values.

  :download:`almotion_getrobotconfig.cpp </samples/cpp/almotion/almotion_getrobotconfig.cpp>`

  .. literalinclude:: /samples/cpp/almotion/almotion_getrobotconfig.cpp
     :language: cpp


  :download:`almotion_getrobotconfig.py </samples/python/almotion/almotion_getrobotconfig.py>`

  .. literalinclude:: /samples/python/almotion/almotion_getrobotconfig.py
     :language: py


.. cpp:function:: std::string ALMotionProxy::getSummary()

  Returns a string representation of the Model's state

  :return: A formated string

  :download:`almotion_getsummary.cpp </samples/cpp/almotion/almotion_getsummary.cpp>`

  .. literalinclude:: /samples/cpp/almotion/almotion_getsummary.cpp
     :language: cpp


  :download:`almotion_getsummary.py </samples/python/almotion/almotion_getsummary.py>`

  .. literalinclude:: /samples/python/almotion/almotion_getsummary.py
     :language: py


.. cpp:function:: float ALMotionProxy::getMass(const std::string& pName)

  Gets the mass of a joint, chain, "Body" or "BodyJoints".

  :param pName: Name of the body which we want the mass. "Body", "BodyJoints" and "Com" give the total mass of NAO. For the chain, it gives the total mass of the chain.

  :return: The mass in kg.

  :download:`almotion_getmass.cpp </samples/cpp/almotion/almotion_getmass.cpp>`

  .. literalinclude:: /samples/cpp/almotion/almotion_getmass.cpp
     :language: cpp


  :download:`almotion_getmass.py </samples/python/almotion/almotion_getmass.py>`

  .. literalinclude:: /samples/python/almotion/almotion_getmass.py
     :language: py


.. cpp:function:: std::vector<float> ALMotionProxy::getCOM( const std::string& pName, const int& pSpace, const bool& pUseSensorValues )

  Gets the COM of a joint, chain, "Body" or "BodyJoints".

  :param pName: Name of the body which we want the mass. In chain name case, this function give the com of the chain.
  :param pSpace: Task space {SPACE_TORSO = 0, SPACE_WORLD = 1, SPACE_NAO = 2}.
  :param pUseSensorValues: If true, the sensor values will be used to determine the position.
  :return: The COM position (meter).

  :download:`almotion_getcom.cpp </samples/cpp/almotion/almotion_getcom.cpp>`

  .. literalinclude:: /samples/cpp/almotion/almotion_getcom.cpp
     :language: cpp


  :download:`almotion_getcom.py </samples/python/almotion/almotion_getcom.py>`

  .. literalinclude:: /samples/python/almotion/almotion_getcom.py
     :language: py

..
    .. cpp:function:: void ALMotionProxy::setMotionConfig(const AL::ALValue& config)

      Internal Use.

      :param config: Internal: An array of ALValues [i][0]: name, [i][1]: value


    .. cpp:function:: void ALMotionProxy::updateTrackerTarget( const float& pTargetPositionWy, const float& pTargetPositionWz, const int& pTimeSinceDetectionMs, const bool& pUseOfWholeBody )

      Update the target to follow by the head of NAO.

      :param pTargetPositionWy: The target position wy in SPACE_NAO

      :param pTargetPositionWz: The target position wz in  SPACE_NAO

      :param pTimeSinceDetectionMs: The time in Ms since the target was detected

      :param pUseOfWholeBody: If true, the target is follow in cartesian space by the Head with whole Body constraints.